The mechanical design and control system of 9 DOF robotic crane

This work presents the status of running project (2007-2010). The new nine degrees of freedom cable driven robot has been developed. Main parts: the mechanical design of parallel manipulator and the heart of control system have been presented. The preliminary tests of the prototype application have been performed. As the final result of the project, a robotic cable driven crane will be developed, applicable in a wide range of practical commercial solutions

Simple cable-pulley manipulator system for remote translocation of radioactive materials

The simple and low cost manipulator system for the use in small workspace of nuclear laboratories is presented. The system is designed for remote translocation of radioactive sources and other applications increasing staff safety during processing of radioisotope materials. The described cable-pulley manipulator is controlled by a very simple PC set-up

Yager’s classes of fuzzy implications: some properties and intersections

summary:Recently, Yager in the article “On some new classes of implication operators and their role in approximate reasoning” [Yager_2004] has introduced two new classes of fuzzy implications called the $f$-generated and $g$-generated implications. Along similar lines, one of us has proposed another class of fuzzy implications called the $h$-generated implications. In this article we discuss in detail some properties of the above mentioned classes of fuzzy implications and we describe their relationships amongst themselves and with the well established $(S,N)$-implications and $R$-implications. In the cases where they intersect the precise sub-families have been determined

Fuzzy implications: alpha migrativity and generalised laws of importation

In this work, we discuss the law of α-migrativity as applied to fuzzy implication functions in a meaningful way. A generalisation of this law leads us to Pexider-type functional equations connected with the law of importation, viz., the generalised law of importation I(C(x,α),y)=I(x,J(α,y)) (GLI) and the generalised cross-law of importation I(C(x,α),y)=J(x,I(α,y)) (CLI), where C is a generalised conjunction. In this article we investigate only (GLI). We begin by showing that the satisfaction of law of importation by the pairs (C, I) and/or (C, J) does not necessarily lead to the satisfaction of (GLI). Hence, we study the conditions under which these three laws are related

Some Remarks on the Generalized Scheme of Reduction to Absurdity and Generalized Hypothetical Syllogism in Fuzzy Logic

In this paper we investigate two generalizations, in fuzzy logic, of classical scheme of reduction to absurdity. We compare them with two possible generalizations of classical hypothetical syllogism (in fuzzy logic) and we show that generalized hypothetical syllogism is more general. We present new results concerning solutions of an inequality and an equation connected directly with generalization of scheme of reduction to absurdity in fuzzy logic

On Some Functional Equations Related to Alpha Migrative t-conorms

In this contribution, we analyse in details the recently introduced definition of migrative tconorms [see Fuzzy implications: alpha migrativity and generalised laws of importation, M. Baczy´nski, B. Jayaram, R. Mesiar, 2020]. We also focus on some general functional equations, which might be obtained from such a notion. We concentrate on some particular well-known families of fuzzy implications and show solutions of those equations among this kind of fuzzy implication functions

Properties of water hydrating the galactolipid and phospholipid bilayers : a molecular dynamics simulation study

Molecular dynamics simulations of 1,2-di-O-acyl-3-O-β-D-galactopyranosyl-sn-glycerol (MGDG) and 1,2-dioleoyl-sn-glycero-3-phosphatidylcholine (DOPC) bilayers were carried out to compare the effect of the lipid head group's chemical structure on the dynamics and orientational order of the water molecules hydrating the bilayer. The effect of the bilayers on the diffusion of water is strong for the neighbouring water molecules i.e., those located not further than 4 Å from any bilayer atom. This is because the neighbouring water molecules are predominantly hydrogen bonded to the lipid oxygen atoms and their mobility is limited to a confined spatial volume. The choline group of DOPC and the galactose group of MGDG affect water diffusion less than the polar groups located deeper in the bilayer interface, and similarly. The latter is an unexpected result since interactions of water with these groups have a vastly different origin. The least affected by the bilayer lipids is the lateral diffusion of unbound water in the bilayer plane (x,y-plane) - it is because the diffusion is not confined by the periodic boundary conditions, whereas that perpendicular to the plane is. Interactions of water molecules with lipid groups also enforce certain orientations of water dipole moments. The profile of an average water orientation along the bilayer normal for the MGDG bilayer differs from that for the DOPC bilayer. In the DOPC bilayer, the ordering effect of the lipid head groups extends further into the water phase than in the MGDG bilayer, whereas inside the bilayer/water interface, ordering of the water dipoles in the MGDG bilayer is higher. It is possible that differences in the profiles of an average water orientation across the bilayer in the DOPC and MGDG bilayers are responsible for differences in the lateral pressure profiles of these bilayers

An effective similarity measurement under epistemic uncertainty

The epistemic uncertainty stems from the lack of knowledge and it can be reduced when the knowledge increases. Such inter-pretation works well with data represented as a set of possible states and therefore, multivalued similarity measures. Unfortunately, set-valued extensions of similarity measures are not computationally feasible even when the data is finite. Measures with properties that allow efficient calculation of their extensions, need to be found. Analysis of various similarity measures indicated logic-based (additive) measures as an excellent candidate. Their unique properties are discussed and efficient algorithms for computing set-valued extensions are given. The work presents results related to various classes of fuzzy set families: general ones, intervals of fuzzy sets, and their finite sums. The first case is related to the concept of the Fuzzy Membership Function Family, the second corresponds to the Interval-Valued Fuzzy Sets, while the third class is equivalent to the concept of Typical Interval-Valued Hesitant Fuzzy Sets

Network of lipid interconnections at the interfaces of galactolipid and phospholipid bilayers

Interactions among lipid head groups at the bilayer/water interface do, to a large extent, determine membrane properties. In this study graph theory is employed to objectively describe and compare the pattern of the interactions at the interfaces of computer models of 128- and 512-lipid monogalactolipid (MGDG) and phosphatidylcholine (DOPC) bilayers. Both MGDG and DOPC have polar head groups but of different chemical structures so at the bilayer interfaces they participate in different types of interaction. Nevertheless, at both interfaces these interactions and the lipid molecules they link make networks. In graph theory, a network of interconnected objects (nodes) is described by well-defined quantities which define its topology and can be used to assess inner properties of the network, its strength and density, etc. In this study, several topological properties of the networks in the DOPC and MGDG bilayers are determined. A comparison of these properties indicates that the topologies of both networks differ significantly but are stable during the simulation time. The networks in the MGDG bilayers are more extended, branched, stable, and stronger than those in the DOPC bilayers. This is consistent with the smaller surface area per lipid and higher rigidity of the MGDG than the DOPC bilayers as well as the tendency of MGDG to form an inverse hexagonal phase in water. The scale of the systems is an important factor when assessing the properties of the network; the system scaling is more evident in the DOPC bilayers where several quantities increase directly proportional to the increasing size of the system than in the MGDG bilayers where this is rarely the case

Orientation of lutein in a lipid bilayer : revisited

Lutein is present in the human retina and lens, where it plays a protective role. As lutein is associated with the lipid matrix of biomembranes, the role depends on its membrane location. Experimental studies predicted two orientations of lutein in a phosphatidylcholine (PC) bi-layer: vertical and horizontal. Using a molecular dynamics simulation, we observed, in two different PC bilayers, both orientations of lutein, and in each bilayer, a single change from vertical to horizontal orientation or vice ver-sa. Both orientations were stabilized by hydrogen bonding of lutein OH groups with mainly carbonyl but also phosphate oxygen atoms of PC